ROBUST CONTROL OF UNCERTAIN ROBOR SYSTEMS

A robust control scheme for uncertain robot manipulators is developed in this paper,Using anew version of inverse dynamics control law,a reduced-order generalized error equation,which greatly facili-tates the controller design, is first derived.The proposed scheme consists of two parts. The first part is themodel-based computed torque controller wLich is used to stabilize the nominal robot system. The second partis a robust compensating controller which is designed to handle the uncertainty in the system. The global convergence of the proposed controller is established.Simulation results show the proposed scheme is effective tothe robot systems with unknown parameters and external disturbance.。